#include "self_driving_core.h"

SelfDrivingCore::SelfDrivingCore(ros::NodeHandle &nh)
{
	pub_TX2_VCU_ClampLiftCmd = nh.advertise< can_msgs::TX2_VCU_ClampLiftCmd::ConstPtr>("can_msgs/TX2_VCU_ClampLiftCmd", 5);
	pub_TX2_VCU_ControlCmd = nh.advertise< can_msgs::TX2_VCU_ControlCmd::ConstPtr>("can_msgs/TX2_VCU_ControlCmd", 5);
    pub_TX2_VCU_MotorCmd = nh.advertise< can_msgs::MotorCmd::ConstPtr>("can_msgs/TX2_VCU_MotorCmd", 5);
    
	sub_bbox_8 = nh.subscriber("/detected_bounding_boxs_wheel", 5, &SelfDrivingCore::callback_handle_bbox8, this)
	sub_bbox_10 = nh.subscriber("/detected_bounding_boxs_wheel", 5, &SelfDrivingCore::callback_handle_bbox10, this)
	

}
SelfDrivingCore::~SelfDrivingCore() {}

void SelfDrivingCore::callback_handle_bbox8(jsk_recognition_msgs::BoundingBoxArray& bbox_in){
	
}
void SelfDrivingCore::callback_handle_bbox10(jsk_recognition_msgs::BoundingBoxArray& bbox_in){
	
}
